Add github actions to build python wheels

Author: CyrilWaechter

.github/workflows/wheels.yml

@@ -0,0 +1,19 @@
+name: Build
+
+on: [push, pull_request]
+
+jobs:
+  build_wheels:
+    name: Build wheel py${{matrix.python}} on ${{matrix.platform}}
+    runs-on: ${{matrix.platform}}
+    strategy:
+      matrix:
+        platform: [ubuntu-latest] # [ubuntu-latest, macos-latest, windows-latest]
+        python: [39]
+    steps:
+    - uses: actions/checkout@v2
+    - name: Build wheels
+      uses: pypa/cibuildwheel@v2.0.0
+    - uses: actions/upload-artifact@v2
+      with:
+        path: ./wheelhouse/*.whl

.gitignore

@@ -103,3 +103,6 @@ venv.bak/
 
 # mypy
 .mypy_cache/
+
+# vscode settings
+.vscode/

pyproject.toml

@@ -0,0 +1,10 @@
+[build-system]
+requires = ["setuptools", "wheel", "numpy", "Cython"]
+build-backend = "setuptools.build_meta"
+
+[tool.cibuildwheel]
+before-all = "bash requirements/clone.bash && bash requirements/build.bash"
+before-build = "pip install numpy cython"
+manylinux-x86_64-image = "manylinux_2_24"
+test-requires = "pytest"
+test-command = "pytest {package}/test"

setup.cfg

@@ -0,0 +1,33 @@
+[metadata]
+name = python-fcl
+version = attr: fcl.__version__
+description = Python bindings for the Flexible Collision Library
+long_description = file: README.md
+long_description_content_type = text/markdown
+url = https://github.com/CyrilWaechter/python-fcl
+maintainer = Cyril Waechter
+maintainer_email = cyrwae@hotmail.com
+license = BSD
+license_files = LICENSE
+classifiers =
+    Development Status :: 3 - Alpha
+    License :: OSI Approved :: BSD License
+    Operating System :: POSIX :: Linux
+    Programming Language :: Python :: 2
+    Programming Language :: Python :: 2.7
+    Programming Language :: Python :: 3
+    Programming Language :: Python :: 3.0
+    Programming Language :: Python :: 3.1
+    Programming Language :: Python :: 3.2
+    Programming Language :: Python :: 3.3
+    Programming Language :: Python :: 3.4
+    Programming Language :: Python :: 3.5
+    Programming Language :: Python :: 3.6
+keywords = fcl collision distance
+packages = fcl
+setup_requires =
+    numpy
+    Cython
+install_requires =
+    numpy
+    Cython

setup.py

@@ -1,83 +1,52 @@
 import os
 import sys
-import inspect
 
 from setuptools import Extension, setup
 
 
-# get current directory of file in case someone
-# called setup.py from elsewhere
-cwd = os.path.dirname(os.path.abspath(
-    inspect.getfile(inspect.currentframe())))
-
-# load __version__
-exec(open(os.path.join(cwd,
-                       'fcl/version.py'), 'r').read())
-    
-platform_supported = False
-for prefix in ['darwin', 'linux', 'bsd']:
-    if prefix in sys.platform:
-        platform_supported = True
-        include_dirs = ['/usr/include',
-                        '/usr/local/include',
-                        '/usr/include/eigen3',
-                        '/usr/local/include/eigen3']
-        lib_dirs = ['/usr/lib',
-                    '/usr/local/lib']
-        
-        if 'CPATH' in os.environ:
-            include_dirs += os.environ['CPATH'].split(':')
-        if 'LD_LIBRARY_PATH' in os.environ:
-            lib_dirs += os.environ['LD_LIBRARY_PATH'].split(':')
-
-        try:
-            # get the numpy include path from numpy
-            import numpy
-            include_dirs.append(numpy.get_include())
-        except:
-            pass
-
-        break
-
-if sys.platform == "win32":
+def get_include_dirs():
     platform_supported = False
-
-if not platform_supported:
+    for prefix in ['darwin', 'linux', 'bsd']:
+        if prefix in sys.platform:
+            platform_supported = True
+            include_dirs = ['/usr/include',
+                            '/usr/local/include',
+                            '/usr/include/eigen3',
+                            '/usr/local/include/eigen3']
+            
+            if 'CPATH' in os.environ:
+                include_dirs += os.environ['CPATH'].split(':')
+
+            break
+    if sys.platform == "win32":
+        platform_supported = False
+    if not platform_supported:
+        raise NotImplementedError(sys.platform)
+
+    # get the numpy include path from numpy
+    import numpy
+    include_dirs.append(numpy.get_include())
+    return include_dirs
+
+def get_libraries_dir():
+    for prefix in ['darwin', 'linux', 'bsd']:
+        if prefix in sys.platform:
+            platform_supported = True
+            lib_dirs = ['/usr/lib',
+                        '/usr/local/lib']
+            
+            if 'LD_LIBRARY_PATH' in os.environ:
+                lib_dirs += os.environ['LD_LIBRARY_PATH'].split(':')
+            return lib_dirs
     raise NotImplementedError(sys.platform)
 
+
 setup(
-    name='python-fcl',
-    version=__version__,
-    description='Python bindings for the Flexible Collision Library',
-    long_description='Python bindings for the Flexible Collision Library',
-    url='https://github.com/CyrilWaechter/python-fcl',
-    author='Cyril Waechter',
-    author_email='cyrwae@hotmail.com',
-    license = "BSD",
-    classifiers=[
-        'Development Status :: 3 - Alpha',
-        'License :: OSI Approved :: BSD License',
-        'Operating System :: POSIX :: Linux',
-        'Programming Language :: Python :: 2',
-        'Programming Language :: Python :: 2.7',
-        'Programming Language :: Python :: 3',
-        'Programming Language :: Python :: 3.0',
-        'Programming Language :: Python :: 3.1',
-        'Programming Language :: Python :: 3.2',
-        'Programming Language :: Python :: 3.3',
-        'Programming Language :: Python :: 3.4',
-        'Programming Language :: Python :: 3.5',
-        'Programming Language :: Python :: 3.6',
-    ],
-    keywords='fcl collision distance',
-    packages=['fcl'],
-    setup_requires=['cython'],
-    install_requires=['numpy', 'cython'],
     ext_modules=[Extension(
         "fcl.fcl",
         ["fcl/fcl.pyx"],
-        include_dirs = include_dirs,
-        library_dirs = lib_dirs,
+        include_dirs = get_include_dirs(),
+        library_dirs = get_libraries_dir(),
         libraries=[
                 "fcl","octomap"
                 ],